%% jisuan
syms l1 m1 n1 l2 m2 n2 real;
syms x1 y1 z1 dx dy dz real;


PHI=[m1 n1 l1;-m2 -n2 -l2]';
GMMA=[dx dy dz]';
theta=inv(PHI'*PHI)*PHI'*GMMA

xt=z1+m1*t1;
yt=y1+n1*t1;
zt=z1+l1*t1;

